Control of PWA systems using a stable receding horizon method
| Authors: | Necoara Ion, Technical University Delft, Netherlands
De Schutter Bart, Technical University Delft, Netherlands
Heemel Maurice, Technical University Eindhoven, Netherlands
Weiland Siep, Technical University Eindhoven, Netherlands
Lazar Mircea, Technical University Eindhoven, Netherlands
van den Boom Ton, Technical University Delft, Netherlands |
|---|
| Topic: | 2.4 Optimal Control |
|---|
| Session: | Predictive Control |
|---|
| Keywords: | piecewise affine system, linear matrix inequalities, model predictivecontrol. |
|---|
Abstract
In this paper we derive stabilization conditions for the classof piecewise affine (PWA) systems using the linear matrix inequality (LMI)framework. We take into account the piecewisestructure of the system and therefore the matrix inequalities that wesolve are less conservative. Using the upper bound of theinfinite-horizon quadratic cost as a terminal cost and constructingalso a convex terminal set we show that the receding horizoncontrol stabilizes the PWA system. We derive also an algorithmfor enlarging the terminal set based on a backward procedure; therefore, the prediction horizon canbe chosen shorter, removing some computations off-line.
